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Tyler Veness d248c040bf [wpimath] Add Sleipnir Java bindings (#8236 )

The wrapper includes reverse mode autodiff, the Problem DSL, and the
optimal control problem API. I wrote it by directly translating the
upstream
[API](https://github.com/SleipnirGroup/Sleipnir/tree/main/include/sleipnir)
and [tests](https://github.com/SleipnirGroup/Sleipnir/tree/main/test) to
Java (i.e., copy-paste-modify).

I replaced the ArmFeedforward and Ellipse2d JNIs with implementations
using the Sleipnir Java bindings. Switching dev binary JNIs to release
by default sped up wpimath test runs from several minutes to 7 seconds.

2026-03-29 22:34:21 -07:00

src/main

[wpimath] Add Sleipnir Java bindings (#8236 )

2026-03-29 22:34:21 -07:00

build.gradle

Rename FRC to WPILib (#8637 )

2026-03-13 23:05:55 -07:00

CMakeLists.txt

SCRIPT fixup project rename

2025-11-07 23:09:21 -08:00

README.md

[benchmark] Add benchmark subproject (#8042 )

2025-07-15 21:16:06 -07:00

README.md

Benchmark

This is a benchmark project built directly against this repo's sources.

Desktop benchmarking

This command runs the Java benchmarks on desktop.

./gradlew benchmark:run

This command runs the C++ benchmarks on desktop.

./gradlew benchmark:runCpp

Deploy to a roboRIO

This project can only deploy over USB. If an alternate IP address is preferred, the address block in benchmark/build.gradle can be changed to point to another address.

This command deploys the C++ project using shared dependencies. Prefer this one for most C++ development.

./gradlew benchmark:deployShared

This command deploys the C++ project with all dependencies statically linked.

./gradlew benchmark:deployStatic

This command deploys the Java project and all required dependencies. It also installs the JRE if it's not currently installed.

./gradlew benchmark:deployJava

Those commands won't start the robot executable, so you have to manually ssh in and start it. The following command will do that.

ssh lvuser@172.22.11.2 frcRunRobot.sh

Console log prints will appear in the terminal.

Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.

Faster builds

If your benchmarks only need some projects, you can comment out or delete unnecessary subprojects from the dependencies, benchmarkCpp, and benchmarkCppStatic blocks in benchmark/build.gradle (Java or C++) and from target_link_libraries() in benchmark/CMakeLists.txt (C++ only).